/*
	Time Complexity = O(E), where E is equal to the number of edges
*/

package A_Star;

import java.util.*;

public class A_Star {

  private static class Graph {
    // Graph's structure can be changed only applying changes to this class.
    private ArrayList<Edge>[] graph;

    // Initialise ArrayLists in Constructor
    public Graph(int size) {
      this.graph = new ArrayList[size];
      for (int i = 0; i < size; i++) {
        this.graph[i] = new ArrayList<>();
      }
    }

    private ArrayList<Edge> getNeighbours(int from) {
      return this.graph[from];
    }

    // Graph is bidirectional, for just one direction remove second instruction of this method.
    private void addEdge(Edge edge) {
      this.graph[edge.getFrom()].add(new Edge(edge.getFrom(), edge.getTo(), edge.getWeight()));
      this.graph[edge.getTo()].add(new Edge(edge.getTo(), edge.getFrom(), edge.getWeight()));
    }
  }

  private static class Edge {
    private int from;
    private int to;
    private int weight;

    public Edge(int from, int to, int weight) {
      this.from = from;
      this.to = to;
      this.weight = weight;
    }

    public int getFrom() {
      return from;
    }

    public int getTo() {
      return to;
    }

    public int getWeight() {
      return weight;
    }
  }

  // class to iterate during the algorithm execution, and also used to return the solution.
  private static class PathAndDistance {
    private int distance; // distance advanced so far.
    private ArrayList<Integer> path; // list of visited nodes in this path.
    private int
        estimated; // heuristic value associated to the last node od the path (current node).

    public PathAndDistance(int distance, ArrayList<Integer> path, int estimated) {
      this.distance = distance;
      this.path = path;
      this.estimated = estimated;
    }

    public int getDistance() {
      return distance;
    }

    public ArrayList<Integer> getPath() {
      return path;
    }

    public int getEstimated() {
      return estimated;
    }

    private void printSolution() {
      if (this.path != null)
        System.out.println(
            "Optimal path: " + this.path.toString() + ", distance: " + this.distance);
      else System.out.println("There is no path available to connect the points");
    }
  }

  private static void initializeGraph(Graph graph, ArrayList<Integer> data) {
    for (int i = 0; i < data.size(); i += 4) {
      graph.addEdge(new Edge(data.get(i), data.get(i + 1), data.get(i + 2)));
    }
    /*
    .x. node
    (y) cost
    - or | or / bidirectional connection

                          ( 98)- .7. -(86)- .4.
                            |
                    ( 85)- .17. -(142)- .18. -(92)- .8. -(87)- .11.
                      |
                     . 1. -------------------- (160)
                      |  \                       |
                    (211) \                     .6.
                      |    \                     |
                     . 5.  (101)-.13. -(138)   (115)
                      |           |     |     /
                    ( 99)       ( 97)   |    /
                      |           |     |   /
        .12. -(151)- .15. -(80)- .14.   |  /
         |            |           |     | /
       ( 71)        (140)       (146)- .2. -(120)
         |            |                       |
        .19. -( 75)- . 0.        .10. -(75)- .3.
                      |            |
                    (118)        ( 70)
                      |            |
                     .16. -(111)- .9.
     */
  }

  public static void main(String[] args) {
    // heuristic function optimistic values
    int[] heuristic = {
      366, 0, 160, 242, 161, 178, 77, 151, 226, 244, 241, 234, 380, 98, 193, 253, 329, 80, 199, 374
    };

    Graph graph = new Graph(20);
    ArrayList<Integer> graphData =
        new ArrayList<>(
            Arrays.asList(
                0, 19, 75, null, 0, 15, 140, null, 0, 16, 118, null, 19, 12, 71, null, 12, 15, 151,
                null, 16, 9, 111, null, 9, 10, 70, null, 10, 3, 75, null, 3, 2, 120, null, 2, 14,
                146, null, 2, 13, 138, null, 2, 6, 115, null, 15, 14, 80, null, 15, 5, 99, null, 14,
                13, 97, null, 5, 1, 211, null, 13, 1, 101, null, 6, 1, 160, null, 1, 17, 85, null,
                17, 7, 98, null, 7, 4, 86, null, 17, 18, 142, null, 18, 8, 92, null, 8, 11, 87));
    initializeGraph(graph, graphData);

    PathAndDistance solution = aStar(3, 1, graph, heuristic);
    solution.printSolution();
  }

  public static PathAndDistance aStar(int from, int to, Graph graph, int[] heuristic) {
    // nodes are prioritised by the less value of the current distance of their paths, and the
    // estimated value
    // given by the heuristic function to reach the destination point from the current point.
    PriorityQueue<PathAndDistance> queue =
        new PriorityQueue<>(Comparator.comparingInt(a -> (a.getDistance() + a.getEstimated())));

    // dummy data to start the algorithm from the beginning point
    queue.add(new PathAndDistance(0, new ArrayList<>(Arrays.asList(from)), 0));

    boolean solutionFound = false;
    PathAndDistance currentData = new PathAndDistance(-1, null, -1);
    while (!queue.isEmpty() && !solutionFound) {
      currentData = queue.poll(); // first in the queue, best node so keep exploring.
      int currentPosition =
          currentData.getPath().get(currentData.getPath().size() - 1); // current node.
      if (currentPosition == to) solutionFound = true;
      else
        for (Edge edge : graph.getNeighbours(currentPosition))
          if (!currentData.getPath().contains(edge.getTo())) { // Avoid Cycles
            ArrayList<Integer> updatedPath = new ArrayList<>(currentData.getPath());
            updatedPath.add(edge.getTo()); // Add the new node to the path, update the distance,
            // and the heuristic function value associated to that path.
            queue.add(
                new PathAndDistance(
                    currentData.getDistance() + edge.getWeight(),
                    updatedPath,
                    heuristic[edge.getTo()]));
          }
    }
    return (solutionFound) ? currentData : new PathAndDistance(-1, null, -1);
    // Out of while loop, if there is a solution, the current Data stores the optimal path, and its
    // distance
  }
}
